version: 66.13
glider: 204
mission: 19
dive: 93
start: 7 20 117 16 45 19
data:
$ID,204
$MISSION,19
$DIVE,93
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,180
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1010
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0200298
$HD_C,2.53195e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,598.77728
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,2
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,15
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0.5
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,20
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.29309
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,0.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$GPS1,200717,160206,4712.7466,-12513.3115,46,1.0,52,16.0,0.6,168.4,9,10.0
$_CALLS,15
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-66.7
$GPS2,200717,164500,4712.3784,-12513.2002,20,1.0,27,16.0,0.6,200.8,10,10.0
$SPEED_LIMITS,0.192,0.223
$TGT_NAME,SHELF3
$TGT_LATLONG,4654.000,-12515.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,193.1,34113,-22.7,-11.111,-26.47,2697
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,5,-1.30,-194.6,177,2417,988,816,0.0,0.0,0,89,0.00,0.00,-82.30,0.000,16386,0.000,0.000,176,2417,3002,2963,3042,0,0,0,0,0,0,26.96,28.83,27.03
$GC,91,-1.30,-194.6,177,2418,2964,3042,4.3,-7.6,8,118,11.45,0.00,-13.23,0.000,18470,0.261,0.000,2613,2418,3737,3700,3775,0,0,0,0,0,0,25.15,24.74,25.61
$GC,417,-1.30,-194.6,2613,2417,3704,3775,71.2,-16.9,33,423,0.00,2.10,0.00,0.000,260,0.000,0.067,2605,3679,3739,3704,3775,0,0,0,0,0,0,27.05,25.60,27.10
$GC,552,-1.30,-194.6,2606,3680,3704,3777,96.2,-17.9,60,557,0.00,2.00,0.00,0.000,1030,0.000,0.045,2609,2405,3739,3705,3774,0,0,0,0,0,0,26.15,26.10,26.18
$GC,867,-1.30,-194.6,2609,2405,3706,3775,147.1,-15.7,73,873,0.00,2.22,0.00,0.000,516,0.000,0.047,2619,1001,3740,3705,3775,0,0,0,0,0,0,27.08,25.82,27.13
$GC,987,-1.30,-194.6,2619,1002,3706,3775,165.2,-14.8,97,994,0.00,2.20,0.00,0.000,1030,0.000,0.041,2611,2394,3740,3705,3775,0,0,0,0,0,0,25.99,25.95,26.05
$GC,1317,-1.30,-194.6,2610,2395,3705,3775,213.8,-14.8,113,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2394,3740,3705,3775,0,0,0,0,0,0,27.08,27.15,27.14
$GC,1618,-1.30,-194.6,2610,2393,3706,3772,259.9,-15.6,122,1623,0.00,2.22,0.00,0.000,516,0.000,0.048,2618,1007,3738,3704,3772,0,0,0,0,0,0,27.08,25.73,27.14
$GC,1652,-1.30,-194.6,2617,1008,3704,3774,265.5,-15.8,129,1659,0.00,2.22,0.00,0.000,1030,0.000,0.046,2609,2392,3738,3704,3772,0,0,0,0,0,0,25.84,25.79,25.89
$GC,1978,-1.30,-194.6,2609,2393,3703,3771,314.4,-15.0,139,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2392,3735,3702,3769,0,0,0,0,0,0,27.08,27.15,27.14
$GC,2278,-1.30,-194.6,2609,2392,3702,3769,358.6,-14.6,144,2284,0.00,2.25,0.00,0.000,516,0.000,0.050,2610,1002,3734,3700,3768,0,0,0,0,0,0,27.08,25.65,27.14
$GC,2323,-1.30,-194.6,2609,1003,3701,3769,365.3,-14.6,153,2330,0.00,2.22,0.00,0.000,1030,0.000,0.042,2601,2396,3734,3700,3768,0,0,0,0,0,0,25.89,25.84,25.94
$GC,2638,-1.30,-194.6,2601,2396,3700,3766,413.1,-15.2,161,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2396,3732,3699,3766,0,0,0,0,0,0,27.08,27.15,27.14
$GC,2938,-1.30,-194.6,2601,2396,3698,3765,459.2,-15.3,166,2944,0.00,2.25,0.00,0.000,516,0.000,0.048,2606,1002,3730,3696,3765,0,0,0,0,0,0,27.08,25.63,27.14
$GC,2968,-1.30,-194.6,2605,1003,3697,3766,463.9,-15.9,172,2974,0.00,2.25,0.00,0.000,1030,0.000,0.043,2597,2405,3731,3697,3765,0,0,0,0,0,0,25.83,25.77,25.88
$GC,3299,-1.30,-194.6,2597,2406,3695,3763,515.1,-15.5,183,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2405,3728,3694,3762,0,0,0,0,0,0,27.08,27.15,27.13
$GC,3599,-1.30,-194.6,2597,2406,3694,3763,562.9,-16.1,188,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2405,3727,3693,3761,0,0,0,0,0,0,27.08,27.15,27.14
$STATE,3837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3837,begin apogee
$GC,3841,-0.23,0.0,2596,2697,3694,3760,601.1,-16.0,192,4091,1.50,0.00,241.75,0.874,10246,0.197,0.000,2956,2698,2940,3024,2857,0,0,0,0,1,0,23.72,24.64,23.27
$STATE,4091,end apogee,CONTROL_FINISHED_OK
$STATE,4091,begin climb
$GC,4093,1.30,194.6,2956,2698,3028,2858,616.1,0.0,196,4321,1.70,1.77,218.77,0.819,10500,0.142,0.070,3440,3693,2138,2232,2044,0,0,0,0,0,0,24.84,24.83,23.82
$GC,4470,1.30,194.6,3440,3693,2212,2030,589.2,13.4,274,4476,0.00,1.55,0.00,0.000,1030,0.000,0.037,3445,2691,2121,2211,2031,0,0,0,0,0,0,26.32,26.28,26.35
$GC,4800,1.30,194.6,3446,2691,2211,2029,548.8,12.2,285,4807,0.00,2.20,0.00,0.000,516,0.000,0.045,3456,1300,2119,2209,2029,0,0,0,0,0,0,26.96,26.08,27.03
$GC,4845,1.30,194.6,3456,1301,2210,2029,543.4,12.1,294,4851,0.00,2.25,0.00,0.000,1030,0.000,0.044,3447,2708,2119,2209,2029,0,0,0,0,0,0,26.17,26.12,26.22
$GC,5161,1.30,194.6,3448,2708,2209,2028,504.8,12.2,302,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2708,2117,2208,2027,0,0,0,0,0,0,27.02,27.09,27.08
$GC,5461,1.30,194.6,3448,2708,2208,2026,467.7,12.3,307,5466,0.00,2.22,0.00,0.000,516,0.000,0.044,3456,1315,2116,2206,2026,0,0,0,0,0,0,27.03,25.97,27.10
$GC,5521,1.30,194.6,3456,1315,2208,2028,460.5,12.1,319,5526,0.00,2.20,0.00,0.000,1030,0.000,0.043,3447,2695,2116,2206,2026,0,0,0,0,0,0,26.08,26.03,26.13
$GC,5880,1.30,194.6,3448,2695,2206,2026,416.7,12.2,336,5886,0.00,2.20,0.00,0.000,516,0.000,0.040,3456,1299,2115,2205,2026,0,0,0,0,0,0,27.04,25.98,27.10
$GC,5946,1.30,194.6,3456,1299,2205,2025,408.8,12.1,349,5952,0.00,2.22,0.00,0.000,1030,0.000,0.041,3447,2698,2115,2204,2026,0,0,0,0,0,0,26.04,25.99,26.09
$GC,6301,1.30,194.6,3448,2699,2204,2026,366.7,11.7,365,6307,0.00,2.20,0.00,0.000,516,0.000,0.041,3456,1307,2114,2204,2025,0,0,0,0,0,0,27.05,25.92,27.11
$GC,6356,1.30,194.6,3456,1308,2205,2026,360.6,11.0,376,6363,0.00,2.25,0.00,0.000,1030,0.000,0.045,3447,2703,2114,2204,2025,0,0,0,0,0,0,25.93,25.87,25.98
$GC,6661,1.30,194.6,3447,2705,2203,2026,327.6,10.9,382,6667,0.00,2.22,0.00,0.000,516,0.000,0.044,3456,1316,2113,2203,2024,0,0,0,0,0,0,27.05,25.82,27.11
$GC,6741,1.30,194.6,3456,1316,2205,2024,318.7,11.4,398,6747,0.00,2.20,0.00,0.000,1030,0.000,0.042,3448,2697,2113,2203,2024,0,0,0,0,0,0,25.95,25.91,26.01
$GC,7081,1.30,194.6,3448,2696,2204,2024,279.2,11.6,411,7087,0.00,2.20,0.00,0.000,516,0.000,0.041,3456,1308,2113,2203,2023,0,0,0,0,0,0,27.05,25.87,27.11
$GC,7136,1.30,194.6,3456,1308,2205,2023,272.9,11.5,422,7143,0.00,2.22,0.00,0.000,1030,0.000,0.045,3447,2696,2113,2203,2023,0,0,0,0,0,0,25.86,25.82,25.92
$GC,7441,1.30,194.6,3447,2697,2203,2024,239.0,11.1,429,7448,0.00,2.20,0.00,0.000,516,0.000,0.040,3456,1306,2112,2202,2022,0,0,0,0,0,0,27.05,25.85,27.12
$GC,7482,1.30,194.6,3456,1306,2204,2022,234.6,10.6,437,7488,0.00,2.22,0.00,0.000,1030,0.000,0.044,3447,2694,2112,2202,2022,0,0,0,0,0,0,25.86,25.81,25.91
$GC,7802,1.34,224.0,3448,2694,2203,2022,201.3,10.0,451,7835,0.00,2.17,23.08,0.656,8740,0.000,0.040,3456,1301,2025,2124,1927,0,0,0,0,1,0,27.05,25.57,24.49
$GC,7895,1.38,249.0,3456,1303,2128,1932,191.9,10.2,469,7941,0.08,2.22,37.92,0.641,11302,0.158,0.043,3477,2698,1916,2016,1816,0,0,0,0,0,0,25.82,26.14,24.49
$GC,8255,1.38,249.0,3478,2698,2000,1802,147.1,12.7,491,8261,0.00,2.20,0.00,0.000,516,0.000,0.041,3489,1307,1900,1999,1802,0,0,0,0,0,0,26.96,26.00,27.03
$GC,8310,1.38,249.0,3489,1308,2000,1803,140.3,12.5,502,8317,0.00,2.22,0.00,0.000,1030,0.000,0.043,3489,2696,1900,1999,1802,0,0,0,0,0,0,26.04,25.99,26.10
$GC,8615,1.38,249.0,3489,2697,1998,1801,103.1,11.6,513,8621,0.00,2.20,0.00,0.000,516,0.000,0.040,3499,1300,1899,1997,1801,0,0,0,0,0,0,27.03,25.97,27.10
$GC,8795,1.38,249.0,3499,1301,1998,1803,82.9,11.1,549,8802,0.00,2.22,0.00,0.000,1030,0.000,0.041,3499,2701,1899,1997,1801,0,0,0,0,0,0,26.01,25.96,26.06
$GC,9126,1.44,293.5,3500,2702,1998,1801,48.6,9.4,565,9149,0.00,0.00,21.60,0.247,8230,0.000,0.000,3499,2702,1743,1850,1636,0,0,0,0,0,0,27.05,25.56,25.11
$GC,9446,1.64,433.3,3500,2702,1855,1650,19.8,5.8,597,9529,0.20,1.65,76.20,0.183,10532,0.119,0.077,3554,3691,1169,1290,1049,0,0,0,0,0,0,26.34,25.60,25.42
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,0.7,1.023038
$STATE,9612,end surface coast,CONTROL_FINISHED_OK
$STATE,9612,begin surface
$SM_CCo,9630,99.90,0.138,0,0,499,598.78
$SM_GC,0.14,10.55,2.03,99.90,0.106,0.036,0.138,181,2390,499,-8.82,1.22,598.78,0,0,0,0,0,0,26.37,26.25,25.56
$IRIDIUM_FIX,4713.01,-12507.57,200717,163849
$TT8_MAMPS,0.047936,0.0749
$HUMID,51.69
$INTERNAL_PRESSURE,8.61789
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,23.27,11.154
$10V_AH,9.90,9.390
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.475,73.700,619.325,99.900,0.000,0.000,0.000,794.600,0.500,0.000,28.449,0.000,9362.900,852.716,2002.671,87.777,0.000,2200.652,0.000,902.134,0.000,0.541,0.000
$DEVICE_MAMPS,260.865,77.265,873.630,138.465,0.000,0.000,0.000,61.200,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,277632
$DATA_FILE_SIZE,20106,630
$CAP_FILE_SIZE,91198,0
$CFSIZE,260030464,251502592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.131,68.80,1
$GPS,200717,192843,4711.646,-12513.170,45,1.1,57,16.0,0.3,0.0,9,10.0